Speech recognition for robotic vehicle control using Multi Regional Language.
-
Upload
tj-ideaforinnovation -
Category
Technology
-
view
64 -
download
15
Transcript of Speech recognition for robotic vehicle control using Multi Regional Language.
Speech recognition for robotic vehicle control using Multi Regional Language.
ABSTRACT
The term "robot" for the most part implies some (human-like) appearance exploration
instituted some examination issues for creating humanoid robot and one of the noteworthy
examination issues is to create machine that have human-like discernment. How is human
observation? - The five established human sensors - vision, hearing, touch, smell and taste; by
which they percept the encompassing scene. The fundamental objective of our undertaking is to
present "hearing" sensor furthermore the discourse union to the Mobile robot such that it is
competent to connect with human through Spoken Natural Language (NL).
Discourse acknowledgment (SR) is a noticeable innovation, which helps us to present
"hearing" and Natural Language (NL) interface through Speech for the Human-Robot
communication. So the guarantee of human robot is beginning to wind up a reality. We have
picked Mobile Robot, since this kind of robot is getting prominent as an administration robot in
the social setting, where the fundamental test is to interface with human.
Two sort of methodology have been decided for Voice User Interface (VUI) execution -
utilizing a Hardware SR framework and another, utilizing a Software SR framework. We have
taken after Hybrid engineering for the general apply autonomy outline and correspondence with
the SR framework; likewise made the punctuation for the discourse, which is decided for the
automated exercises in his field. The configuration and both usage methodologies are exhibited
in this report.
One of the vital objectives of our task is to present appropriate UI for tenderfoot client and our
test arrangement is planned by our undertaking objectives; so we have likewise directed an ease
of use assessment of our framework through learner clients. We have performed tests with
straightforward and complex sentences for various sorts of apply autonomy exercises;
furthermore broke down the test result to discover the issues and confinements. This report
exhibits all the test outcomes and the discoveries, which we have accomplished all through the
venture.
CHAPTER 1
INTRODUCTIONThis project reports a couple of outcome of progressing research extend that means to investigate
approaches to command a modern robot utilizing the human voice with territorial dialect. These
elements can enthusiasm with a few modern, research facility and clean‐room applications,
where a nearby participation among robots and people is alluring. Apply autonomy Is the branch
of mechanical building, electrical designing and software engineering that arrangements with the
configuration, development, operation, and use of robots, and also PC frameworks for their
control, tactile criticism, and data preparing. These advances manage robotized machines that
can replace people in unsafe situations or assembling forms, or take after people in appearance,
conduct, and/or insight. A hefty portion of today's robots are motivated by nature adding to the
field of apply autonomy.
The idea of making machines that can work self-sufficiently goes back to traditional times,
however scrutinize into the usefulness and potential employments of robots did not become
generously until the twentieth century. All through history, apply autonomy has been regularly
seen to copy human conduct, and frequently oversee assignments in a comparative design.
Today, mechanical autonomy is a quickly developing field, as innovative advances keep;
inquiring about, outlining, and building new robots fill different functional needs, whether
locally, monetarily, or militarily. Numerous robots do tasks that are unsafe to individuals, for
example, defusing bombs, mines and investigating wrecks.
There are numerous sorts of robots; they are utilized as a part of various situations and for a
wide range of employments, in spite of the fact that being extremely differing in application and
structure they all offer three essential similitude’s with regards to their development Robots all
have some sort of mechanical development, an edge, frame or shape intended to accomplish a
specific undertaking. For instance, a robot intended to traverse substantial earth or mud, may
utilize caterpillar tracks.
1.1 Problem Formulation
Since as we seen numerous customary robotic frameworks .As automated framework comes
generally with programmed operations as we seen such frameworks like line devotee robot,
modern assembling robots and so on, coming to controlled automated frameworks,
1.2 Existing System
The best in class in tangible insight for robots will need to advance through a few requests of
greatness in the event that we need the robots working in our homes to go past vacuum-cleaning
the floors. On the off chance that robots are to work adequately in homes and other non-modern
situations, the way they are told to play out their employments and particularly how they will be
advised to stop will be of basic significance. The general population who associate with them
may have practically zero preparing in apply autonomy, thus any interface should be to a great
degree natural. Sci-fi creators likewise commonly accept that robots will in the end be equipped
for speaking with people through discourse, motions, and outward appearances, as opposed to a
summon line interface. In spite of the fact that discourse would be the most characteristic path
for the human to impart, it is unnatural for the robot. It will likely be quite a while before robots
cooperate as normally as the anecdotal C-3PO.
1.3 Proposed System
This project reports a couple aftereffects of a progressing research extend that expects to
investigate approaches to charge a mechanical robot utilizing the human voice with provincial
dialect. This component can enthusiasm with a few mechanical, research center and clean‐room
applications, where a nearby participation among robots and people is alluring.
1.4 Methodology
A showing is introduced utilizing two mechanical robots and a (PC) furnished with a sound
board and a headset mouthpiece. The exhibition was coded utilizing the Microsoft Visual Basic
and C#.NET 2010 and connected with two straightforward robot applications: one equipped for
picking‐and‐placing objects and going to predefined positions, and the other fit for playing out a
basic direct weld on a work‐piece. The discourse acknowledgment linguistic use is determined
utilizing the sentence structure developer from the Microsoft Speech SDK 5.1. This anticipate
likewise acquaints the ideas of discourse with content interpretation and voice acknowledgment,
and shows how these components can be utilized with applications fabricated utilizing the
Microsoft.NET structure.
CHAPTER 2
LITERATURE SURVEY
1. It is conceivable to appraise the commotion by utilizing data on the robot's own particular
movements and stances, in light of the fact that a sort of movement and signal creates just about
the same example of clamor without fail. In this paper, it is portrayed as voice acknowledgment
control framework for robot (VRCS) framework which can vigorously perceive voice by grown-
ups and youngsters in uproarious situations. . It is assessed that the VRCS framework in a
correspondence robot put in a genuine loud environment. Voice is caught utilizing a remote
receiver. To stifle obstruction and commotion and to weaken resonation, this paper actualized a
multichannel framework comprising of an exception vigorous summed up side-projection
canceller strategy and a component space clamor concealment utilizing MMSE criteria. Voice
movement periods are identified utilizing GMM-based end-point recognition [1].
2. Individual automated assistants help decreasing the manual endeavors being put by people in
their everyday errands. This paper executes a voice-controlled individual colleague robot. The
human voice charges are given to the automated aide remotely, by utilizing a savvy cell
telephone. The robot can perform distinctive developments, turns, begin/stop operations and
move an item starting with one place then onto the next. The voice orders are handled
continuously, utilizing an online cloud server. The discourse signal charges changed over to
content structure are conveyed to the robot over a Bluetooth system. The individual associate
robot is created on a small scale controller based stage and can know about its present area. [2].
3. The Intelligent service robot in indoor environment with voice acknowledgment and tele-
presence capacities accepts that this model of service robot is utilized to convey a drinking
container to the perceived client from the beginning stage to the destination. The advancement
and acquaintance of 3 fundamental modules with keep away from deterrent, to perceive charges
and tele-presence capacities in light of Google App Engine. The discovery of snags, which is in
view of the data from the 3 ultrasonic sensors, utilizes an Interval sort 2 Fuzzy Logic for
receiving instability. The fundamental commitment of this examination is to give a complete
system of correspondence model between primary controllers to different modules in
administration robot [3].
4. The upsides of discourse enacted robots are sans hands and quick information info operations.
In future, it is normal that discourse acknowledgment frameworks will be utilized as man-
machine interface for robots in restoration, diversion and so forth. The discourse
acknowledgment framework is prepared in a manner that it perceives characterized summons
and the composed robot explores taking into account the direction through the Speech
Commands. The medium of connection amongst people and PCs is on the preparing of discourse
[4].
5. The impact of haptic input quality on tele-operated undertaking execution and control exertion
has been evaluated for a run of the mill (dis-)get together assignment in a hard-to-hard
environment, surely understood to the administrator. Four basic subtasks have been recognized,
in particular: 1) free-space movement,2) contact move, 3) compelled translational, and 4) obliged
rotational errands. [5].
6. Voice-commands are given as a contribution to the Android OS based stage which are
handled and transmitted to an online cloud server progressively. The voice-commands changed
over to content structure are then conveyed to an installed Bluetooth module of the robot,
utilizing the Blue-tooth module of the advanced cell. The Bluetooth module of the robot gets the
commands as content and after that sends these to the miniaturized scale controller board for
further preparing. The pace control system controlled through a product guarantees halting the
robot before a pre-set differential deferral time [6].
7. The robot depends on the doctor's facility WLAN for remote control and transmission of
information in both headings between the robot and the control room. Lifting, taking care of and
transporting radioactive materials inside the healing center is one of the essential capacities did
by the robot. This capacity is critical to decrease the presentation of doctor's facility staff to
hurtful radiation. Another capacity of this robot is varying media tolerant specialist
correspondence notwithstanding when the specialist can't be physically at the clinic. If there
should arise an occurrence of WLAN disappointment, the robot can be controlled physically
utilizing a joystick [7].
Chapter 3
HARDWARE AND SOFTWARE REQUIREMENTS
In the wake of experiencing the venture detail we have touched base at the accompanying
Hardware and Software necessities. This part gives insights about different hardware
components and software utilized as a part of execution of c# based multi language voice
empowered robot.
3.1 Hardware Requirements
c# based multi language voice empowered robot requires the following hardware components:
ATMEGA16 microcontroller
Motor Driver L293D
CC2500 x-bee
12 volt 1.2Ah battery
Dc motor
The accompanying areas depict these hardware components and clarify why we are utilizing
these specific components as a part of our c# based multi language voice empowered robot.
3.1.1Atmega16 Microcontroller
Atmega-16 also belongs to same family. It also performs the same function of ATmega-8.
ATmega16 is an 8-bit-microcontroller. Atmega16-is mainly depends RISC and CISC
Architecture which includes 135 set of instructions. Oscillation frequency is of 16MHz.
fig 3.1 atmega 16
Pin diagram of Atmega-16
Fig 3.2 Pin configuration of atmega-16
Pin no 1 and 2 is connected to timer 0 and 1. Pin no 3 and 4 is connected to positive
and negative inputs.
Pin no 5 to 8 are connected to Serial-Peripheral-Interface. Pin no 9, 10 and 11 are
connected to reset, VCC and to gnd. Pin no 18 and 19is connected to PWM channels
Pin no 22 and 23 are connected to interface of TWI and 24 to 27 are connected to
interface of JTAG
ADC channels are connected from Pin no 33 to 40.
Features:
Flash memory is of 32KB
1KB of static Ram
512-bytes of EEPROM
EEPROM flash memory is 10,000-100,000, individually.
GPIO:
The general purpose input and output pin is a multiplexed pin which can either send or receive
the information or can be configured as uart interrupt pwm or analog channel the mainly there
are four ports in atmega-8 port a,b,c,d to do general input or output operation specified by port
direction setting register or special purpose register can be enabled to use uart ,pwm, adc etc
when enabling this disables the general input and output operation .fig3.2 shows the specific
registers used for a single port.
Fig.3.3 Different port operation
If port direction setting register is set to logic high the corresponding port is configured as output
if it is set to logic low then it’s configured as input in 1 byte mode pinx is used to accesses the
single pin in the corresponding port and whatever the data need to be read or written must be sent
through portx.
UART:
In most of the embedded microcontroller uart is used to convert the parallel data into
serial and serial into parallel to be sent one by one for the long range most of the controller
supports the multi processor communication and three modes of communication full duplex
mode can only be done with the help of inbuilt serial interrupt two communication can be done
one is synchronous mode another is asynchronous this mode is known as independent mode
clock generated by internal baud rate generator gives the required clock for communication
general format of communication consist of one start bit usually not used one stop bit in-between
eight bit data and a parity bit to check the error during transmission or reception of packet.fig 3.3
shows the time diagram of uart for communication.
Fig.3.4 Asynchronous data transfer timing diagram
3.1.2 Voltage regulatorTo give the correct voltage to the circui not intend to damage the controller or any other digital or
analog parts ists mandotry to provide the required power no more or less than the anticapated to achive
this a set of five volt regulators are used which can power up the corresponding device as the motor runs
form 9 volt to 12volt there is no need of reducing the incoming voltage to do with this 7805 constant
5volt 1 amp load driving capability and input range from 6 to 36 voltage is used it has three terminal pin
one is input pin two is common pin three is output from where constant 5 volt is supplied to the devices in
order to keep the constant supply without thermal run away additional heat desipater must be attached to
the device
Figure 3.5 Voltage Regulators (7805)
Usually monolithic voltage regulator is available as 3 terminals IC7805 as shown in below figure. The 3
terminals are denoted as IN (input), COM (common), OUT (output). This +5V regulator is useful in
power up to 500mw.It must have a heat sink for high current. A 1mf high quality and tantalum capacitor
should be placed from output to ground for stability. By using this regulator circuit we are deriving 5v
from 12v battery.
3.1.3 Gear Dc Motor
At whatever point a mechanical autonomy specialist discuss making a robot, the primary thing
rings a bell is making the robot precede onward the ground. What's more, there are constantly
two choices before the architect need to utilize a DC or stepper motor. With regards to speed,
weight, size, cost. DC motors are constantly favored over
stepper motor. There are numerous things which can
be done when dc motors are connected with
microcontroller. For instance rate of motor can be
controlled and control the heading of revolution, can likewise do encoding of the turn made by
DC motor i.e. monitoring what numbers revolution are made by motor .
Fig: 3.6 internal architecture of dc motor
As dc motor don’t have much torque to drive a payload with desired rpm to avoid this problem
sets of gear are used to drive the motor which consist of driver gear idle linking gear and driven
gear which will be connected to shaft of the motor then it can be connected to wheel to drive the
pay load.
Fig. 3.7 gear combination
DC Motor with Gear
The DC motors don't have enough torque to drive a robot directly by connecting wheels in it.
Gears are used to increase the torque of dc motor on the expense of its speed.
Mathematical interpretation:
Rotational power (Pr) is given by:
Pr =Torque (T) * Rotational Speed ()
Pr is constant for DC motor for a constant input electrical power. Thus torque (T) is inversely proportional
Speed (). Thus to increase the value of torque we have to loss speed.
3.1.4 L293D Dual H-Bridge Motor Driver
L293D is a double H-Bridge motor driver this ic can drive two dc motors in both direction with
fix course of movement by interfacing all i/o to microcontroller and up to four motors can be
controlled in fixed direction this driver has yield current of 600ma and up to 1.2A for every line
connected to motors mainly this ic have internal freewheeling diode which protects from back
emf generated during the rotation and works with wide input from
4.5v to 36v.
Fig. 3.8 connection diagram l293d to motor and input function
In the Fig. 3.14 to connect a single motor to driver and to microcontroller o/p1 and o/p2 are
connected to motor i/p pin a,b and en will be connected to microcontroller direction signal will
be given to a and b input en signal must be high additionally vcc1 must be connected to 5volts
vcc2 must be connected to 12 volt and all four ground additional pull of 10k must be connected
to i/o line of microcontroller to ensure the perfect operation of driver.
3.1.5 Battery
Power bank are major source to run the prototype here 12volt 1.2ampere/hour sealed lead acid
battery is used to give constant supply for continuous operation of the system compared to
conventional lead acid battery this bank won’t spill and acid and no need to put distilled water an
additional charger need to charge the battery 14.1 volts is knows as battery full and 10 volts is
known as low battery discharging the battery beyond the level make the battery unusable.
Additional voltage reducer ic 7805 must be used to drive the digital part.
3.1.6 Zig-bee Module
Zig-bee is an wireless transceiver used to send and receive data at maximum communication
speed of 250Kbps the name zig-bee replicates for the bee hive for the mesh network by point to
point communication advantage of using zig-bee over other conventional wireless is it provides
long range communication personal area network support long battery life , beacon option for
remote locating usually zig-bee is used for data acquisition and transmission zig-bee operates at
3.3v and low stand by idle current communication frequency is of standard permissible for
wireless test purpose at2.4Ghz zig-bee can communicate with one device at a time or multiple
devices depending on pan here zig-bee is used to send data from pc to robot by using serial
communication operating at nine thousand six hundred baud rate eight bit data, one stop bit, not
start no parity.
3.1.7 Rs 232 Cable and Max 232 Ic
Most of the microcontroller and microprocessor are cmos and mainly operates at logic level five
volt and zero as logic high and logic low if this system wants to communicate with other ttl or
cmos device of different logic level there may be chance of failure in communication due to
different logic levels and may be chance of getting damaged due to high voltage level hence the
rs232 standard is been used but the major problem once again is logic levels for this reason a ic
maxima 232 is used which consist of voltage inverting and doubling done with te help of 4 o.1
microfarad ceramic disc capacitor connected to pin1 and 3 pin2 and vcc pin 4 and 5 and pin 6
and ground each max 232 can communicate with the two devices of different logic level usually
db-9 connector is used to do the physical connection between sender and receiver db-9 consist of
9 pins upper row consist 5 pins in which pin2 is either sender or receiver depending on type of
connector pin3 is either sender or receiver from there 5th pin is ground which is a mandatory
connection to be done ,for successful connection rest of the pins are known as handshaking
signal for multiprocessor communication.
Max 232 IC Is Utilized to coordinate the working voltage between Zigbee module and PC for
serial communication.
3.1.8 Internal Structure of Max232
MAX232 requires four capacitors ranging from 1 to 10μF. The most widely used value for these
capacitors is 10μF.
Fig: 3.9 Pin diagram of MAX232
3.2 SYSTEM SOFTWARE DESIGNThe software requirements for designing of multi-language robot is as
follows Microsoft visual studio 2010.net
AVR studio version5
SINA programmer
3.2.1 MICROSOFT VISUAL STUDIO 2010.NET:
C# is a dialect of Microsoft visual studio that allows the developers to create specific application
which includes both graphical and code end which can be connected to database.
C# runs only on windows machine by using C# developers can create windows based client
application, data base integration Xml for web related services and many more features are
included by using visual studio frame work user can compile, debug and build the application in
this project c# application is used at receiver side were corresponding person accesses to the data
base of the patient to view the recorded log of the status.
3.2.2 .NET SYSTEM STAGE DESIGN
C# will be executed repeatedly on .NET Structure, is vital piece of operating system which
consolidates a backend execution system called the typical thread runtime which have inbuilt
libraries which is accessed by class. An overall mark is the reason which makes execution and
headway circumstances in which code and inbuilt add on participate reliably. Coding done in C#
is aggregated and transitional lingo that changes with the CLI point of interest. The inline code
and sources, for instance, bitmaps and strings, are secured to a plate in an exe record assembled a
get, normally with a development of .exe or .dll. Parties contain and demonstrate that gives
information about the party's sorts, interpretation, society, and security essentials.
Exactly when the C# framework is executed, the social gathering is stacked into the CLR, and
which may take distinctive exercises in perspective of the details in appear. By then, security
necessities must be fulfilled, CLR done at the last possible second (JIT) get-together to change
over the IL code to neighborhood machine rules. The CLR moreover gives distinctive
organizations related to customize waste social occasion, unique case dealing with, and resource
organization. Code that is executed by the CLR is as a less than dependable rule suggested as
"directed code," instead of "unmanaged code" that can be accumulated to neighborhood
machine.
3.2.3 AVR Studio Version5:
Atmel® AVR Studio® 5 is the integrated development environment (IDE to develop the
firmware for embedded microcontroller of Atmel family by using this tool user can write
compile and debug the code this tool incorporates with multiple features like watch window to
view the registers status peripherals’ widows shows the internal operation of hardware in the
microcontroller.
3.2.4 Steps Involved Generating Project Hex File:
Step 1:
Fig 3.10: Creation of a New Project Step 2:
Fig 3.11: Creation of a New Project Step 2:
Fig 3.12: Selection of Target Device for Which the Hex File is to
be generated
Step3:
Fig 3.13: Write Code With C.
Step4: click on run compile, no errors result.
Step5: build target generate hex file.
3.2.5 Sina Programmer
Fig 3.14: Shows Front View of Sina Programmer
Sina Programmer is burner programming with straightforward client additionally joins an AVR
Wire number cruncher. It utilizes enhanced AVRDUDE 5.10 and underpins new gadgets and
new records just the accessible ports and baud rate determination is conceivable. It is a
standalone straightforward programming and no establishment is select the gadget sort as
ATmega16 and set the Software engineer to USB asp and port to USB (as seen at the base of
window).Click on scan under Hex Document and find the .Hex record to snap System catch
under bits can likewise be customized.
Chapter 4
Methodology
C# based multi language voice controlled robot consists of transmitter unit and receiver
unit. They are connected together wirelessly. This chapter describes the working principle and
flowchart of the system.
4.1 c# and processing This block gives the in detailed function of speech processing on C# using visual studio
platform speech input is given though condenser microphone this input is converted into
electrical signal and given to sampling process after this converted digital values is given to c#
for processing depends on the trained processes code recognize the give audio sample and
depends on the input output will be sent to wireless unit via RS232 port.
Fig.4.1 speech and touch input to C#
4.2Receiving UnitThis module consist of atmega-16 microcontroller which perform all the controlling and
monitoring operation for the corresponding command received by uart through cc2500 atmega-
16 operating at 16 mhz with flash rom of 16kb and ram of 2kb and course diversion is done
using two 30 rpm geared dc motor is used to give the robot the mobility operation which is
driven by the microcontroller with the help of l293d h-bridge motor.
WINDOWS OPERATING
SYSTEM
SPEECH INPUT CONDENSER
MIC
SPEECH RECOGNIZING
AND PROCESSING
VISUAL STUDIO
CC2500
X-BEE
ATMEGA-16 MICROCONTROLLER
12 V 1.2 AH
SLA BATTERY
CC-2500 X-BEE MODULE
Fig.4.2 receiving unit
Fig 4.3 Description of Various Parts of Robotic Vehicle.
L293D H-BRIDGE MOTOR DRIVER
MOTOR1
MOTOR2
Left wheel attached to
Motor 2
7805 REGULATOR
Right wheel attached to
Motor 1
Free wheel front
Chassis
1. straight 2.straight
Forward (mundhe) for char “A” Backward (hindhe) for char “B”
Fig 4.4 Movement of Robot Forward Fig 4.5 Movement of Robot Backward
3. Sharp Right 4. Sharp left
Right (balha) for char “C” Left (yada) for char “C”
Fig 4.6 Movement of Robot Right Fig 4.7 Movement of Robot Left
5. Stop
Stop (nillu) for char “E”
Fig 4.8 Stop No Movement
From the above fig we can analyze the movement and directions of motor for respective commands.
4.4 Circuit Diagram
In this circuit atmega-16 is used to course the direction of the robot as per the command given by
the client these command are received by cc2500 wireless connected to rxd and txd pin of
microcontroller configured as uart operating at nine thousand six hundred baud rate eight bit data
one stop bit no start no parity any command sent by the client will be received through uart and
then processed.
Fig.4.9 hardware connection diagram
2 12volt 30 rpm geared dc motor is used to move the chair in desired direction driven by l293d
h-bridge motor driver as dc motor is analog mechanical and works at 12 volt consuming 200to
300 ma of current and mainly it generates back emf while in motion if this motor is directly
connected to microcontroller means controller will get damaged because its digital operates at
5volt and can supply maximum of 40 ma source current per input and output so l293d gets the
information from microcontroller and change the course of robot.
4.3 Flow Chart of the system
speeech process with c#
NO
YES
YES
NO
START
RUN SPEECH FRAME WORK
INITIALIZE UART FOR PACKET TRANSFER
RUN SPEECH ENGINE
IF SPEECH INPUT
DETECTED
IF COMMAN
D IS FOWARD
SEND ‘A’ TO ROBOT
A
C
B
PROCESS THE SPEECH
YES
NO
YES
NO
Fig.(a) Flow chart of speech processing
SEND ‘B’ TO ROBOT
IF COMMAND
IS LEFT
SEND ‘D’ TO ROBOT
A
B
C
IF COMMAND
IS BACKWAR
D
IF COMMAND
IS RIGHT
SEND ‘C’ TO ROBOT
IF COMMAND
IS STOP
SEND ‘E’ TO ROBOT
ROBOT CONTROL FLOW
NO
YES
YES
NO
INITIALIZE UART AT 9600 BAUDRATE 8BIT DATA ONE STOP
BIT NO START NO PARITY
IF COMMAN
D RECIVED
IF COMMAN
D IS ‘A’
MOVE ROBOT FORWARD
AC
E
PROCESS THE COMMAND
START
YES
NO
YES
NO
Fig.(C) Flow chart of robot movement control
MOVE ROBOT REVERSE
IF COMMAND
IS ‘C’
MOVE ROBOT RIGHT
A
C
IF COMMAND
IS ‘B’
IF COMMAND
IS ‘D’
MOVE ROBOT LEFT
IF COMMAND
IS ‘E’
STOP ROBOT
EE
Chapter 5
Results and Discussion
With modernization in technologies and multiple research in the field of robotics from domestic
to military usage has gone much forward in this project robot movement is controlled using
voice as command input but the special feature is using multi-language user interactive input
processed on C# platform using visual studio command is sent through 2.4ghz cc2500 wireless
transceiver unit below details give the brief function of robot.
The voice processed for the robot control is as described in below steps
(Module pic)
Fig 5.1: full integrated prototype
Step-1:
This the main screen to configure the com port by giving the desired port no and need to open
the port to start the process after this process user need to turn on the speech recognizer by
ticking it otherwise only touch control through cursor can be done.
Fig 5.3: verbal control framework
Step-2:
In this step user has given the voice command “mundae” means forward in English for this
command a char “A” is sent through the serial communication to wireless unit which will be
transmitted to robot to movement.
Fig 5.4: command for forward movement
Step-3:
In this step user has given the voice command “Hindhae” means backward in English for this
command a char “B” is sent through the serial communication to wireless unit which will be
transmitted to robot to movement.
Fig 5.5: command for backward movement
Step-4:
In this step user has given the voice command “bala” means right in English for this command a
char “C” is sent through the serial communication to wireless unit which will be transmitted to
robot to movement.
Fig 5.3: command for right movement
Step-5:
In this step user has given the voice command “yada” means left in English for this command a
char “D” is sent through the serial communication to wireless unit which will be transmitted to
robot to movement.
Fig 5.3: command for left movement
Step-6: In this step user has given the voice command “nillu” means stop in English for this
command a char “E” is sent through the serial communication to wireless unit which will be
transmitted to robot to stop the movement.
Fig 5.3: command to the stop movement
Result & Analysis
Applications:
It has wider applications, by interface a metal detector .It can be used to sense mine in
war fields.
It can be used to travel through tunnels which are so congested places where people cant
travel.
It can be used for industrial applications to carry heavy metals and industrial materials
with in the industrial environment.
By interfacing a webcam .it can be used to monitoring of enemy movements.
Industrial motor speed controlling.
Home automations.
Robotic applications.
Advantages:
This system is compact and flexible so that it can travel over a dense area.
Robot vehicle can be controlled either by button events or by speech events.
Provide more convenience for user in case of language of communication and can be
controlled from long distance.
It can be controlled over 10-100 meters of distance from the transmitting end.
This project provides a best GUI (graphical user interface) developed with platforms of
visual studio.net 2010 with back end coding with C#.
Chapter 6
Conclusion and Scope for future work
This part gives the last conclusion drawn from the proposed work and the extension for future
work.
6.1 Conclusion This framework pays to the self-reliance. This decreases the manual exertion for an
achieving and recognizing the order for controlling the movement of a robot by determined
charges. Further that, the improvement of this model is finished with less cost and reasonable.
This robot can be utilized to do remote surveillance. We are actualizing programmed robot it has
different preferences. We can likewise include new innovation in this robot.
This system can be made highly efficient and effective. The setup for maintaining the
robot will be a onetime investment for any real life application. The motor drive and control
arrangement of the model astute robot has been exhibited. The microcontroller based voice
worked keen robot will bring more comfort in hazard environment surveillance, also the robot
has function of rotating wheel by some defined angle that will be very useful for the user for
taking left or right turn.
6.2 scope for future work
The range of control could be increased by using long range wireless modules like Wi-Fi,
etc.
Android based control with RTP based video rendering can be done.
REFERENCES
[1] Stephen Cook, Speech Recognition HOWTO
[2] Fatih AYDINOĞLU, Robot Control System with Voice Command Recognition, Yıldız
Technical University, Department of Computer Engineering
[3] P. M. Grant, Speech recognition techniques
[4] Sahar E. Bou-Ghazale, Member, IEEE, and John H. L. Hansen, Senior Member, IEEE, A
Comparative Study of Traditional and Newly Proposed Features for Recognition of Speech
Under Stress
[5] M. Chetouani, B. Gas, J.L. Zarader, C. Chavy, Neural Predictive Coding for Speech
Discriminate Feature Extraction : The DFE-NPC, Laboratories des Instruments et Systems d’Ile
de France
[6] Raymond Low and Roberto Togneri, Speech Recognition Using the Probabilistic Neural
Network, The University of Western Australia, Department of Electrical and Electronic
Engineering
[7] M. M. El Choubassi, H. E. El Khoury, C. E. Jabra Alagha, J. A. Skaf and M. A. AlAlaoui,
Arabic Speech Recognition Using Recurrent Neural Networks, Faculty of Engineering and
Architecture – American University of Beirut